// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************

#ifndef MAPVIZ_PLUGINS__ODOMETRY_PLUGIN_H_
#define MAPVIZ_PLUGINS__ODOMETRY_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>
#include <mapviz_plugins/point_drawing_plugin.h>
// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>

// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
#include <nav_msgs/msg/odometry.hpp>

#include <mapviz/map_canvas.h>

// C++ standard libraries
#include <list>
#include <string>
#include <vector>

// QT autogenerated files
#include "ui_odometry_config.h"

namespace mapviz_plugins
{
class OdometryPlugin : public mapviz_plugins::PointDrawingPlugin
{
  Q_OBJECT

  public:
    OdometryPlugin();
    ~OdometryPlugin() override = default;

    bool Initialize(QGLWidget* canvas) override;
    void Shutdown() override {}

    void Paint(QPainter* painter, double x, double y, double scale) override;
    void Draw(double x, double y, double scale) override;
    void LoadConfig(const YAML::Node& node, const std::string& path) override;
    void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;

    QWidget* GetConfigWidget(QWidget* parent) override;

    bool SupportsPainting() override
    {
      return true;
    }

  protected:
    void PrintError(const std::string& message) override;
    void PrintInfo(const std::string& message) override;
    void PrintWarning(const std::string& message) override;

  protected Q_SLOTS:
    void SelectTopic();
    void TopicEdited();

  private:
    Ui::odometry_config ui_;
    QWidget* config_widget_;
    std::string topic_;
    rmw_qos_profile_t qos_;
    rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odometry_sub_;
    bool has_message_;
    void odometryCallback(const nav_msgs::msg::Odometry::SharedPtr odometry);
    void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__ODOMETRY_PLUGIN_H_

